US5748141A - Radar device with reduced power emission - Google Patents

Radar device with reduced power emission Download PDF

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Publication number
US5748141A
US5748141A US08/694,104 US69410496A US5748141A US 5748141 A US5748141 A US 5748141A US 69410496 A US69410496 A US 69410496A US 5748141 A US5748141 A US 5748141A
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Prior art keywords
speed
vehicle
radar
radar device
time
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Expired - Fee Related
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US08/694,104
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English (en)
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Alfred Hoess
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Siemens AG
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Siemens AG
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

Definitions

  • the invention relates to a radar device having a transmitter and a receiver for transmitting and receiving continuously frequency-modulated radar signals, and an evaluation circuit for comparing the transmitted and received radar signals and ascertaining information about the surroundings or environment and in particular a distance from and a relative speed with respect to an object.
  • the continuously frequency-modulated radar signal is used for measuring vehicle following distance and for relative speed measurement in traffic.
  • a frequency-modulated continuous-wave radar device (FMCW radar device) for measuring following distance and relative speed is known from Published International Patent Application WO 95/12824.
  • the FMCW radar device is mounted on a vehicle and emits transmitting power continuously. The consequence is an increase in microwave noise in the surroundings of the vehicle.
  • a radar device secured to a vehicle comprising a transmitter for broadcasting continuously frequency-modulated radar signals over a time range, the time range being fixed as a function of a speed of the vehicle and being longer at a higher speed and shorter at a lower speed; a receiver for receiving the radar signals; and an evaluation circuit for comparing the transmitted and received radar signals to ascertain information about the surroundings and in particular a distance from and a relative speed with respect to an object.
  • the time range within which the transmitter emits radar signals is made shorter as the speed decreases. Especially in city traffic, when vehicle speeds are low, this is advantageous because it reduces the average radiation power emitted by the radar device.
  • the time range during which power is emitted is lengthened by the length of time required by the transmitter to reach a predetermined transmission state, or in other words to reach a steady state after being turned on.
  • an oscillator connected to an emission device through a switch. Since the switch is used, it is unnecessary to turn the oscillator on and off each time. Instead, the oscillator is connected to the emission device only for a predetermined time range.
  • the oscillator is connected to the emission device through an amplifier and the amplifier is turned on and off in accordance with the predetermined time range, for instance by turning the operating voltage of the amplifier on and off.
  • the time intervals are increased between the time ranges in which power is emitted as the speed of the vehicle decreases.
  • no radar signals are emitted below a predetermined speed, and especially when the vehicle is stopped, because in that speed range no information for adaptive vehicle speed control is needed.
  • a further reduction in the radiation burden is attained by decreasing the angular range within which radar beams are broadcast as the speed of the vehicle increases.
  • the angular range is disposed asymmetrically with respect to the travel direction of the vehicle.
  • the receiver has a reception state being adapted to speed and being shorter with a lower speed of the vehicle.
  • FIG. 1 is a block circuit diagram including a radar device
  • FIG. 2 is block circuit diagram of a first transmitter
  • FIG. 3 is block circuit diagram of a second transmitter
  • FIG. 4 is a first time diagram
  • FIG. 5 is a second time diagram
  • FIG. 6 is a third time diagram
  • FIG. 7 is a speed graph
  • FIG. 8 is an angle graph
  • FIGS. 9a and 9b are two angular range graphs.
  • FIG. 10 is a frequency diagram.
  • FIG. 1 there is seen a radar device 1, which is connected to a central processor 2 over data and control lines.
  • the central processor 2 is also connected over data lines to a memory 3, a display 4 and an interface 5.
  • the central processor 2 is also connected through a data bus 6 to a control unit 7 for an automatic transmission, to an engine control unit 8 and to a control unit 9 for a brake system.
  • the central processor 2 is additionally connected over a data line to a speed sensor 17.
  • the configuration of FIG. 1 is built into a vehicle.
  • the radar device 1 has a transmitter 10, a receiver 21 and an evaluation circuit 22.
  • the transmitter 10 emits radar signals that are continuously frequency-modulated (frequency-modulated-continuous-waves).
  • the receiver 21 receives the radar signals reflected by some object.
  • the evaluation circuit 22 ascertains information about the surroundings, and especially the distance from and the relative speed of an object, from a comparison of the emitted radar signals with the received radar signals.
  • the radar device 1 represents a frequency-modulated continuous-wave radar device, having a mode of operation and layout that are already known from Published International Patent Application WO 95/12824.
  • FIG. 2 shows details of the transmitter 10 including a high-frequency oscillator 26, which is connected over a transmission line to one input of a switch 11.
  • the switch 11 has two outputs, namely a first output 23 connected to an emission device 13 and a second output 24 connected to a radiation sink 12.
  • the emission device 13 is constructed as an antenna.
  • the radiation sink 12 acts as a sump that absorbs supplied radar signals and prevents emission of the radar signal.
  • the transmitter 10 is selectively connected to the emission device 13 or the radiation sink 12.
  • the switch 11 can be switched over by the radar device 1 through a first control line 25.
  • FIG. 3 shows a transmitter in which the high-frequency oscillator 26 is constructed as a voltage-controlled gallium arsenide oscillator.
  • the high-frequency oscillator 26 is connected over a transmission line to an amplifier 14.
  • the amplifier 14 is connected over an output line to an emission device 13.
  • the operating voltage of the amplifier 14 can be turned on and off by the radar device 1 through a second control line 18.
  • FIG. 4 shows a time diagram that represents various operating states of the radar device 1 as a function of time.
  • the time t is plotted in the direction to the right.
  • the operating states of the radar device 1 are shown in the form of bars and the length of a bar in the direction of the time axis defines the time range of the corresponding operating state.
  • a first bar a) identifies a time range within which the transmitter 10 emits radar signals and at the same time reflected radar signals are received by the receiver 21. This time range extends from a time t0 to a time t1.
  • a second bar b) represents a time range within which the evaluation unit 22 evaluates the emitted and the received radar signals. The evaluation lasts from the time t0 to a time t2.
  • a radar signal is again emitted by the transmitter 10 in a time period from the time t2 to a time t3 and is received by the receiver 21. If the transmitters 10 are each used for one portion of the angular range and the transmitters 10 are turned on and off in succession, then a switchover among the transmitters 10 is necessary. The switchover is represented by a third bar c).
  • FIG. 5 shows a time diagram corresponding to FIG. 4, in which, in addition to the operating states of transmitting and receiving a), evaluating b) and transmitter switchover c), other operating states are indicated, such as: operation of turning off the transmitter d), OFF state of the transmitter e) and operation of turning on the transmitter e).
  • the operating states of the operations of turning off the transmitter d) and turning on the transmitter e) must be taken into account in controlling the transmitter 10, because transient phenomena of the transmitter 10 as it is turned on and off can occur.
  • a fourth bar d) indicates the time range that the transmitter requires, after the turn-off signal, in order to reduce the emitted power to the value of zero.
  • a fifth bar e) shows the time range that the transmitter 10 requires after a turn-on signal, in order to adjust the emitted power to a predetermined value that is required to ascertain the information about the surroundings, such as the distance from a vehicle traveling ahead or the relative speed with regard to a vehicle traveling ahead.
  • the time range during which the transmitter 10 emits no power is represented by the fifth bar e), which extends from a time t4 to a time t6.
  • FIG. 6 shows a time diagram corresponding to FIG. 5, but in which there is a pause g) between the OFF state e) of the transmitter and the turn-on operation f) of the transmitter.
  • the pause g which extends from the time t6 to a time t7, results from the fact that at a low speed of the vehicle, the time intervals between the emission a) of radar signals is lengthened, since the distance covered by the vehicle per second is relatively low and therefore the surroundings do not vary quickly, so that a lower repetition rate of the transmitting and receiving operating states a) suffices.
  • the insertion of the pause g) between two successive transmission and reception states a) of the radar device represents a preferred further feature of the invention.
  • the operating states shown in FIG. 6 between the times t0 and t3 are repeated continuously.
  • the central processor 2 with the aid of the speed sensor 17, ascertains the speed of its own vehicle and selects the length t g of the pause g) from the characteristic curve of FIG. 7, which is stored in the memory 3.
  • FIG. 8 illustrates the dependency of the emission angle ⁇ as a function of the speed of the vehicle.
  • an angular range ⁇ is plotted in degrees of angle at the top, and the speed of the vehicle in which the device is mounted is plotted in kilometers/hour in the direction toward the right.
  • the angular range of 0° corresponds to a line pointing vertically in the travel direction, beginning at the center point of the vehicle.
  • angular range ⁇ The dependency of the angular range ⁇ on the speed is plotted in the form of a curve for positive and negative angular ranges.
  • a positive angular range originates at the middle of the vehicle and extends to the right in the travel direction, and a negative angular range begins at the middle of the vehicle and extends to the left in the travel direction.
  • the central processor 2 with the aid of the speed sensor 17, ascertains the speed of the vehicle and sets the angular range for the radar device 1 in accordance with FIG. 8.
  • the angular range ⁇ is described in the speed range from 0 to 20 km/h by a straight line with a first slope, and in the speed range from 20 to 40 km/h by a straight line with a second slope which is less than the first slope.
  • the angular range ⁇ is defined by a straight line with a third slope, which is less than the second slope.
  • the angular range ⁇ is fixed at a predetermined value, and in this exemplary embodiment it is fixed to ⁇ 5°.
  • FIGS. 9a and 9b The positive and negative angular ranges are shown in terms of two examples in FIGS. 9a and 9b.
  • a vehicle 15 is shown having a radar device which emits radar signals within an angular range 16 of ⁇ 15°. This is accomplished in the form of an electronically scanning transmitter 10 and receiver 21, or with the aid of a plurality of transmitters 10 and receivers 21 each of which is assigned to one portion of the angular range 16.
  • the angular range 16 of ⁇ 15° corresponds to a vehicle speed of 20 km/h.
  • the angular range 16 has a positive and a negative angular range. Beginning at a center line 27, which extends from the center of the vehicle 15 in the direction of travel, the positive and negative angular ranges extend from the middle of the vehicle in the lateral direction.
  • FIG. 9b shows a vehicle 15 with an angular range 19, which represents a positive and negative angular range ⁇ of ⁇ 5°.
  • the angular range of ⁇ 5° corresponds to a speed of the vehicle 15 of 80 km/h or more.
  • an advantageous further feature of the invention is that the negative angular range and the positive angular range are of different sizes, or in other words the angular range is asymmetrical.
  • the angular range is asymmetrical.
  • the positive (right) angular range is smaller than the negative (left) angular range, or the positive angular range is larger than the negative angular range.
  • the positive and negative angular range are adapted to suit the driving situations.
  • the size of the negative and positive angular ranges are included in the memory 3.
  • the radar device is preferably used to determine the distance from and the relative speed of a vehicle which is ahead, for an adaptive vehicle speed control.
  • FIG. 10 is a frequency diagram from which the dependency of the transmitting state of the transmitter 10 on the range, resolution and modulation rise is described.
  • a maximum scanning frequency FA is specified by a maximum analog intermediate frequency FB max of the received radar signal, in accordance with the following relationship: FB max ⁇ FA/2.
  • the modulation rate is designated by the quotient ( ⁇ f/T).
  • the distance frequency shift FR is thus dependent both on the modulation rate and on the distance R of an object from which the distance, or of which the relative speed, is ascertained.
  • FBmax is proportional to ( ⁇ f/T) ⁇ R max .
  • the modulation rise ⁇ f should be selected to be constant, independently of the modulation duration T, because the axial separation capacity, which should remain constant, is determined by the modulation rise. Therefore, the modulation duration T is inversely proportional to the range R max .
  • R max the range of the radar device is necessary, since the braking distance, depending on the speed, is correspondingly long and therefore a stationary object, for instance, must be detected soon enough to ensure that braking can still be done.
  • a minimum stopping distance D min (Ve 2 /2 A max ), in which Ve is the speed of the vehicle in m/sec and A max is the maximum deceleration of the vehicle in m/sec 2 .
  • the range chosen by the central processor 2 for the radar device 1 becomes shorter as the vehicle speed becomes lower, and similarly, the shorter the modulation duration T at the fixed modulation rise and the shorter the transmission time needed for the transmitter 10 to transmit a modulation rise become. As a consequence, the time for receiving a modulation stroke becomes shorter as well. Therefore, the duration of the receiving state of the radar device 1 also becomes shorter as the speed of the vehicle decreases.
  • the central processor 2 ascertains the speed of the vehicle, and sets the modulation duration T of the transmitter 10 and therefore the transmission time of the transmitter 10 as a function thereof.
  • the mean power emitted by the transmitter 10 is reduced by adapting the length of the transmission time of the transmitter 10 to the instantaneous speed of the vehicle.
  • FIG. 10 shows a radar signal 30 emitted by the transmitter 10 and a radar signal 31 received by the receiver 21.
  • the frequency of the radar signals is plotted over time in FIG. 10.
  • a leading or trailing edge of the radar signal is transmitted by the transmitter 10 within the modulation duration T.
  • the leading edge designates the portion of the radar signal that is transmitted, frequency-modulated from a minimum frequency (fo- ⁇ f/2) up to a maximum frequency (fo+ ⁇ f/2).
  • the trailing edge designates the portion of the radar signal that is transmitted, frequency-modulated from a maximum frequency (fo+ ⁇ f/2) to a minimum frequency (fo- ⁇ f/2).
  • the evaluation circuit 22 ascertains the transit time TR from the comparison of the transmitted radar signal 30 and the received radar signal 31.
  • the relative speed can thus be ascertained from the Doppler frequency shift FD.
  • the evaluation circuit 22 compares at least one leading or trailing edge of the transmitted radar signal with at least one leading or trailing edge of the received radar signal. Preferably, however, one leading and one trailing edge of the transmitted radar signal are compared with one leading and one trailing edge of the received radar signal.
  • the transmitter 10 therefore transmits at least one leading or one trailing edge of the radar signal within one time range (in one transmission state).

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
US08/694,104 1995-08-08 1996-08-08 Radar device with reduced power emission Expired - Fee Related US5748141A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19529173.5 1995-08-08
DE19529173A DE19529173C1 (de) 1995-08-08 1995-08-08 Radargerät mit reduzierter abgestrahlter Leistung

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Cited By (16)

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EP0973045A2 (fr) * 1998-07-16 2000-01-19 Volkswagen Aktiengesellschaft Procédé et appareil pour détecter des objets entourant un véhicule à moteur
US6438466B1 (en) * 1999-01-21 2002-08-20 Robert Bosch Gmbh Device for determining distance and for transmitting data in a motor vehicle
EP0972679A3 (fr) * 1998-07-11 2003-06-25 WABCO GmbH & Co. OHG Procédé et dispositif pour aider un conducteur en marche arrière
US20040169840A1 (en) * 2002-11-28 2004-09-02 Yoshiaki Hoashi Vehicle radar device
US20080258961A1 (en) * 2007-04-23 2008-10-23 Mitsubishi Electric Corporation In-vehicle radar system
US20080258964A1 (en) * 2004-12-13 2008-10-23 Thomas Schoeberl Radar System
US20090135049A1 (en) * 2007-11-27 2009-05-28 Honda Motor Co., Ltd. Running control system for vehicle
US20090153393A1 (en) * 2007-07-18 2009-06-18 Mazda Motor Corporation Obstacle detecting control device of vehicle
US20100277361A1 (en) * 2007-09-12 2010-11-04 Thomas Focke Motor vehicle fmcw radar having linear frequency ramps of different slopes that are set apart, which are associated with different angular ranges
US20100289660A1 (en) * 2009-05-14 2010-11-18 Gm Global Technology Operations, Inc. Motor vehicle having an environmental sensor and method for operating the environmental sensor
JP2013032917A (ja) * 2011-07-30 2013-02-14 Fujitsu Ten Ltd 信号処理装置、レーダ装置、および、信号処理方法
US8907838B1 (en) * 2011-09-28 2014-12-09 Rockwell Collins, Inc. Radar aided doppler compensation
US20180243157A1 (en) * 2015-09-08 2018-08-30 Sony Corporation Information processing apparatus, information processing method, and program
US10451729B2 (en) 2014-09-25 2019-10-22 Audi Ag Method for operating a multiplicity of radar sensors in a motor vehicle and motor vehicle
WO2021061106A1 (fr) 2019-09-24 2021-04-01 Intel Corporation Procédés et appareil destinés à gérer une coordination radar automobile
US20220128649A1 (en) * 2014-08-28 2022-04-28 Waymo Llc Methods and Systems for Vehicle Radar Coordination and Interference Reduction

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DE19707936A1 (de) * 1997-02-27 1998-09-03 Volkswagen Ag Vorrichtung und Verfahren zum Bestimmen eines Abstandes zwischen Fahrzeug und Hindernissen
DE19803660C2 (de) * 1998-01-30 2001-07-05 Siemens Ag Kraftfahrzeugradar
DE19921844A1 (de) 1999-05-11 2000-11-23 Bosch Gmbh Robert Vorrichtung zur Detektion von Objekten in der Umgebung eines Fahrzeugs
DE19935265B4 (de) * 1999-07-27 2005-12-29 Robert Bosch Gmbh Vorrichtung zur Messung des Abstands und der Relativgeschwindigkeit zwischen Objekten und Verwendung dieser
WO2003048801A1 (fr) * 2001-11-28 2003-06-12 Siemens Aktiengesellschaft Radar a onde continue a modulation de frequence (fmcw), avec limitation du temps d'emission pour eviter les effets de repliement de spectre
DE10158967A1 (de) * 2001-11-30 2003-06-12 Conti Temic Microelectronic Verfahren zur optischen Entfernungsmessung in Fahrzeugen
DE10259863A1 (de) 2002-12-20 2004-07-08 Robert Bosch Gmbh Winkelscannendes Radarsystem
DE10360890A1 (de) * 2003-12-19 2005-07-21 Robert Bosch Gmbh Radarsensor und Verfahren zu dessen Betrieb
DE102004043358A1 (de) * 2004-09-08 2006-03-09 Robert Bosch Gmbh Vorrichtung zur Regelung der Geschwindigkeit eines Fahrzeugs
DE102006008139B4 (de) * 2006-02-20 2017-05-04 Adc Automotive Distance Control Systems Gmbh Sensor mit einem dynamischen Erfassungsbereich
DE102006047605A1 (de) * 2006-10-09 2008-04-10 Robert Bosch Gmbh Winkelauflösender Radarsensor für Kraftfahrzeuge
EP3578431B1 (fr) * 2015-01-05 2024-03-20 Nissan Motor Co., Ltd. Dispositif de commande d'entraînement avec ajustement de plage de détection

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EP0758093A3 (fr) 1999-04-07
DE19529173C1 (de) 1997-01-09

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